44 lines
1.4 KiB
C#
44 lines
1.4 KiB
C#
using Engine.Core;
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namespace Engine.Physics2D;
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public class CollisionResolver2D : ICollisionResolver2D
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{
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public void Resolve(CollisionDetectionInformation collisionInformation)
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{
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Vector2D displacementVector = collisionInformation.Normal * collisionInformation.Penetration;
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ICollider2D left = collisionInformation.Detector;
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ICollider2D right = collisionInformation.Detected;
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bool isLeftStatic = left.RigidBody2D?.IsStatic ?? true;
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bool isRightStatic = right.RigidBody2D?.IsStatic ?? true;
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if (isLeftStatic && isRightStatic)
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return;
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if (isLeftStatic)
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right.Transform.Position += displacementVector;
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else if (isRightStatic)
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left.Transform.Position -= displacementVector;
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else
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{
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float leftMass = left.RigidBody2D?.Mass ?? float.Epsilon;
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float rightMass = right.RigidBody2D?.Mass ?? float.Epsilon;
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float sumMass = leftMass + rightMass;
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float leftMomentumPercentage = leftMass / sumMass;
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float rightMomentumPercentage = rightMass / sumMass;
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right.Transform.Position += leftMomentumPercentage * displacementVector;
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left.Transform.Position -= rightMomentumPercentage * displacementVector;
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}
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left.Recalculate();
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right.Recalculate();
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left.Resolve(collisionInformation);
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right.Resolve(collisionInformation);
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}
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}
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